Hi! it's my first experience working with the UR5 and I have to generate the workspace of the UR5 to test stability stability issues, since it will be place on a mobile platform. I want to generate a list of waypoints (only moving the elbow and the shoulder) like in the figure attached that could represente the robot workspace. I am just using the teaching pendant with Polyscope and I intended to use a loop, but due to the limitions of Polyscope I don't know how I could do this... any help will be welcome!
UR5 workspace
-
pablo_siles -
May 9, 2017 at 4:49 PM -
Thread is Unresolved
-
-
You could use a loop and step through the range of theta1 and theta2 angles that you are wanting to test, you will not generate a list of way-points however, just move the robot to each of the calculated positions. Here is an example of what a simple program that can loop through a range of motion is as well as gif showing the motion that was generated
-
Thanks a lot !!!!!! that's exactly what I wanted to do!!